Parasolid model for hexapod

I've made a Parasolid model as promised. It seems to open correctly in SolidEdge and SolidWorks. The model is pretty exact, though it might be different from actual machine in a few small details. Hope it can be useful for someone.

CAD model for hexapod is coming

People keep asking me about CAD model for the hexapod machine. I'm working on it. Parasolid x_t format, I guess.

Yet another video of hexapod (must be the last)

Video with hexapod parallel robot 6 axis rapid moves from summer 2011. Way faster than the first video, but still not enough. Could be faster with better PSU for DMM servos, or with more advanced and more powerful servos. By the way, DMM already has Dyn-3 servos more suitable for closed loop, pity that it's too late for the hexapod.

Done (or almost done) with this machine, I'll probably cut one more final complete video and that's all.
But new machines and robots coming soon.

Fastest 2 dof parallel manipulator

Just when I was thinking what can be done with 2 rotary actuators and came up with SCARA and RRRRR robots.

Very nice robot, 0.1mm accuracy with 15 to 25g! And the main drawback of parallel robots - their small workspace - is fully defeated here. Though the control must be complicated, as it has 4 working modes.
Industrial grade robot, some ABB or Adept company should make it.

Another video of hexapod

I just found a video of hexapod parallel robot milling wood 5 axis from summer 2011, with improved velocity and acceleration. It should be MESA 7i43 that increased the step rate. And LinuxCNC is much more stable with hardware stepper than software.

The acceleration must be near 10m/s2, max velocity 10-12m/min.

Update: config files for 7i43 hexapod7i43.ini and hexapod7i43.hal.

LinuxCNC hexapod machine tool

As I promised, here's a bit more. Since EMC2 name has changed recently, now the machine becomes LinuxCNC hexapod.

The machine was assembled without ballscrews, servo drives connected to breakout boards and motors, and proved to rotate. Then the ballscrews were connected to the platform joints, and the nuts bolted to the actuators. Till the last moment there were doubts, that the platform would be rigid enough. But it proved rigid as planned! The very first moves were luckily captured on the video. Not much spectacular, but really exciting for me.

CNC touch probes review

Looking for a simple inexpensive touch probe for parts measuring and hexapod calibration, during last two months I became a kind of market expert in touch probes. So, here's a summary of my investigations.

There are many top-quality industrial probes with 1um and better precision, based on kinematic, optical or strain gauge technologies. The most popular industrial probes are Renishaw.